eCD++: an engine for executing DEVS models in embedded platforms

We introduce Embedded CD++ (eCD++), an engine that can execute DEVS models in embedded environments. It deploys a Flat Coordinator and the GGAD Graphical Modeling tool, which supports the Parallel DEVS formalism. Its real-time extensions allow users to develop hardware-in-the-loop applications with ease, being able to integrate them in DEVS-based environments.